AP_OSD: Test backport OSD extended link stats to 4.5.x ArduPilot#26912

Tools/scripts/build_options.py

@@ -110,6 +110,7 @@ def __init__(self,
     Feature('OSD', 'PLUSCODE', 'HAL_PLUSCODE_ENABLE', 'Enable PlusCode', 0, 'OSD'),
     Feature('OSD', 'OSD_PARAM', 'OSD_PARAM_ENABLED', 'Enable OSD param', 0, 'OSD'),
     Feature('OSD', 'OSD_SIDEBARS', 'HAL_OSD_SIDEBAR_ENABLE', 'Enable Scrolling Sidebars', 0, 'OSD'),
+    Feature('OSD', 'OSD_EXTENDED_LINK_STATS', 'AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', 'Enable OSD panels with extended link stats data', 0, "OSD,RC_CRSF"),  # noqa
 
     Feature('VTX', 'VIDEO_TX', 'AP_VIDEOTX_ENABLED', 'Enable VideoTX control', 0, None),
     Feature('VTX', 'SMARTAUDIO', 'AP_SMARTAUDIO_ENABLED', 'Enable SmartAudio VTX Contol', 0, "VIDEO_TX"),

Tools/scripts/extract_features.py

@@ -242,6 +242,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
             ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
             ('HAL_LOGGING_ENABLED', 'AP_Logger::Init'),
+            ('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
         ]
 
     def progress(self, msg):

libraries/AP_OSD/AP_OSD.cpp

@@ -85,7 +85,7 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: OSD Options
     // @Description: This sets options that change the display
-    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH
+    // @Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 8, AP_OSD, options, OPTION_DECIMAL_PACK),
 
@@ -114,10 +114,10 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
 
     // @Param: _W_RSSI
     // @DisplayName: RSSI warn level (in %)
-    // @Description: Set level at which RSSI item will flash
-    // @Range: 0 99
+    // @Description: Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.
+    // @Range: -128 100
     // @User: Standard
-    AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, 30),
+    AP_GROUPINFO("_W_RSSI", 12, AP_OSD, warn_rssi, AP_OSD_WARN_RSSI_DEFAULT),
 
     // @Param: _W_NSAT
     // @DisplayName: NSAT warn level
@@ -214,6 +214,22 @@ const AP_Param::GroupInfo AP_OSD::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_W_ACRVOLT", 31, AP_OSD, warn_avgcellrestvolt, 3.6f),
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // @Param: _W_LQ
+    // @DisplayName: RC link quality warn level (in %)
+    // @Description: Set level at which RC_LQ item will flash (%)
+    // @Range: 0 100
+    // @User: Standard
+    AP_GROUPINFO("_W_LQ", 33, AP_OSD, warn_lq, 50),
+
+    // @Param: _W_SNR
+    // @DisplayName: RC link SNR warn level (in %)
+    // @Description: Set level at which RC_SNR item will flash (in db)
+    // @Range: -20 10
+    // @User: Standard
+    AP_GROUPINFO("_W_SNR", 34, AP_OSD, warn_snr, 0),
+#endif
+
 #endif //osd enabled
 #if OSD_PARAM_ENABLED
     // @Group: 5_

libraries/AP_OSD/AP_OSD.h

@@ -48,8 +48,18 @@ class AP_MSP;
 #define PARAM_INDEX(key, idx, group) (uint32_t(uint32_t(key) << 23 | uint32_t(idx) << 18 | uint32_t(group)))
 #define PARAM_TOKEN_INDEX(token) PARAM_INDEX(AP_Param::get_persistent_key(token.key), token.idx, token.group_element)
 
-#define AP_OSD_NUM_SYMBOLS 91
+#define AP_OSD_NUM_SYMBOLS 107
 #define OSD_MAX_INSTANCES 2
+
+#if AP_OSD_LINK_STATS_EXTENSIONS_ENABLED
+// For the moment, these extra panels only work with CRSF protocol based RC systems
+#define AP_OSD_EXTENDED_LNK_STATS 1
+#define AP_OSD_WARN_RSSI_DEFAULT -100   // Default value for OSD RSSI panel warning, in dbm
+#else
+#define AP_OSD_EXTENDED_LNK_STATS 0
+#define AP_OSD_WARN_RSSI_DEFAULT 30     // Default value for OSD RSSI panel warning, in %
+#endif
+
 /*
   class to hold one setting
  */
@@ -226,6 +236,15 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
 #endif
     AP_OSD_Setting sidebars{false, 4, 5};
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // Extended link stats data panels
+    AP_OSD_Setting rc_tx_power{false, 25, 12};
+    AP_OSD_Setting rc_rssi_dbm{false, 6, 2};
+    AP_OSD_Setting rc_snr{false, 23, 13};
+    AP_OSD_Setting rc_active_antenna{false, 27, 13};
+    AP_OSD_Setting rc_lq{false, 18, 2};
+#endif
+
     // MSP OSD only
     AP_OSD_Setting crosshair;
     AP_OSD_Setting home_dist{true, 1, 1};
@@ -314,6 +333,16 @@ class AP_OSD_Screen : public AP_OSD_AbstractScreen
 #endif
     void draw_rngf(uint8_t x, uint8_t y);
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    // Extended link stats data panels
+    bool is_btfl_fonts();    
+    void draw_rc_tx_power(uint8_t x, uint8_t y);
+    void draw_rc_rssi_dbm(uint8_t x, uint8_t y);
+    void draw_rc_snr(uint8_t x, uint8_t y);
+    void draw_rc_active_antenna(uint8_t x, uint8_t y);    
+    void draw_rc_lq(uint8_t x, uint8_t y);
+#endif
+
     struct {
         bool load_attempted;
         const char *str;
@@ -544,6 +573,11 @@ class AP_OSD
     AP_Int8 failsafe_scr;
     AP_Int32 button_delay_ms;
 
+#if AP_OSD_EXTENDED_LNK_STATS
+    AP_Int8 warn_lq;
+    AP_Int8 warn_snr;
+#endif
+
     enum {
         OPTION_DECIMAL_PACK = 1U<<0,
         OPTION_INVERTED_WIND = 1U<<1,
@@ -552,6 +586,9 @@ class AP_OSD
         OPTION_DISABLE_CROSSHAIR = 1U<<4,
         OPTION_BF_ARROWS = 1U<<5,
         OPTION_AVIATION_AH = 1U<<6,
+#if AP_OSD_EXTENDED_LNK_STATS
+        OPTION_RF_MODE_ALONG_WITH_LQ = 1U<<7,
+#endif
     };
 
     enum {

libraries/AP_OSD/AP_OSD_Backend.h

@@ -184,6 +184,22 @@ class AP_OSD_Backend
     static const uint8_t SYM_FENCE_DISABLED = 0xF6;
     static const uint8_t SYM_RNGFD = 0xF7;
     static const uint8_t SYM_LQ = 0xF8;
+    static const uint8_t SYM_WATT = 0xAE;
+    static const uint8_t SYM_WH = 0xAB;
+    static const uint8_t SYM_DB = 0xF9;
+    static const uint8_t SYM_DBM = 0xFA;
+    static const uint8_t SYM_SNR = 0xFB;
+    static const uint8_t SYM_ANT = 0xFC;
+    static const uint8_t SYM_ARROW_RIGHT = 0xFD;
+    static const uint8_t SYM_ARROW_LEFT = 0xFE;
+    static const uint8_t SYM_G = 0xDF;
+    static const uint8_t SYM_BATT_UNKNOWN = 0x97;
+    static const uint8_t SYM_ROLL = 0xA9;
+    static const uint8_t SYM_PITCH = 0xAF;
+    static const uint8_t SYM_DPS = 0xAA;
+    static const uint8_t SYM_HEADING = 0x89;
+    static const uint8_t SYM_RADIUS = 0x7A;
+    static const uint8_t SYM_FLAP = 0x23;
 
     static const uint8_t SYM_SIDEBAR_R_ARROW = 0x09;
     static const uint8_t SYM_SIDEBAR_L_ARROW = 0x0A;
@@ -290,5 +306,21 @@ class AP_OSD_Backend
         SYM_SIDEBAR_H,
         SYM_SIDEBAR_I,
         SYM_SIDEBAR_J,
+        SYM_WATT,
+        SYM_WH,
+        SYM_DB,
+        SYM_DBM,
+        SYM_SNR,
+        SYM_ANT,
+        SYM_ARROW_RIGHT,
+        SYM_ARROW_LEFT,
+        SYM_G,
+        SYM_BATT_UNKNOWN,
+        SYM_ROLL,
+        SYM_PITCH,
+        SYM_DPS,
+        SYM_HEADING,
+        SYM_RADIUS,
+        SYM_FLAP,
     };
 };